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<title>Doxygen: pcl::tracking::KLDAdaptiveParticleFilterOMPTracker&lt; PointInT, StateT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::tracking::KLDAdaptiveParticleFilterOMPTracker&lt; PointInT, StateT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html" title="KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within ...">KLDAdaptiveParticleFilterOMPTracker</a></b> tracks the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> which is given by setReferenceCloud within the measured <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> using particle filter method. The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03]. and the computation of the weights of the particles is parallelized using OpenMP.  
 <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="kld__adaptive__particle__filter__omp_8h_source.html">kld_adaptive_particle_filter_omp.h</a>&gt;</code></p>
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类 pcl::tracking::KLDAdaptiveParticleFilterOMPTracker&lt; PointInT, StateT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.png" usemap="#pcl::tracking::KLDAdaptiveParticleFilterOMPTracker_3C_20PointInT_2C_20StateT_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherence</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherenceConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudState</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudState</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Coherence</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherenceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudState</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudState</b></td></tr>
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typedef PointCloudState::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStatePtr</b></td></tr>
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typedef PointCloudState::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStateConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Coherence</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CoherencePtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CoherenceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherence</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherencePtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherenceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudState</b></td></tr>
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typedef PointCloudState::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStatePtr</b></td></tr>
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typedef PointCloudState::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStateConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a69f67d0e24c1fd01874bba00cb231e4f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a69f67d0e24c1fd01874bba00cb231e4f">KLDAdaptiveParticleFilterOMPTracker</a> (unsigned int nr_threads=0)</td></tr>
<tr class="memdesc:a69f67d0e24c1fd01874bba00cb231e4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the scheduler and set the number of threads to use.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a69f67d0e24c1fd01874bba00cb231e4f">更多...</a><br /></td></tr>
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<tr class="memitem:a8b8e7b1aefdbaf5f1f3b417a510d98d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a8b8e7b1aefdbaf5f1f3b417a510d98d5">setNumberOfThreads</a> (unsigned int nr_threads=0)</td></tr>
<tr class="memdesc:a8b8e7b1aefdbaf5f1f3b417a510d98d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the scheduler and set the number of threads to use.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a8b8e7b1aefdbaf5f1f3b417a510d98d5">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a85178ecadf284656194b761804560b77 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a85178ecadf284656194b761804560b77"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a85178ecadf284656194b761804560b77">KLDAdaptiveParticleFilterTracker</a> ()</td></tr>
<tr class="memdesc:a85178ecadf284656194b761804560b77 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:af11cd916f08db4df75fa8e33fb15f04b inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#af11cd916f08db4df75fa8e33fb15f04b">setBinSize</a> (const StateT &amp;bin_size)</td></tr>
<tr class="memdesc:af11cd916f08db4df75fa8e33fb15f04b inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the bin size.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#af11cd916f08db4df75fa8e33fb15f04b">更多...</a><br /></td></tr>
<tr class="separator:af11cd916f08db4df75fa8e33fb15f04b inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a854d5505b9bb8dc6b490c978a6435cf2 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a854d5505b9bb8dc6b490c978a6435cf2"></a>
StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a854d5505b9bb8dc6b490c978a6435cf2">getBinSize</a> () const</td></tr>
<tr class="memdesc:a854d5505b9bb8dc6b490c978a6435cf2 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the bin size. <br /></td></tr>
<tr class="separator:a854d5505b9bb8dc6b490c978a6435cf2 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9c81858105ed751eb142bdb46734196 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#ad9c81858105ed751eb142bdb46734196">setMaximumParticleNum</a> (unsigned int nr)</td></tr>
<tr class="memdesc:ad9c81858105ed751eb142bdb46734196 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the maximum number of the particles.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#ad9c81858105ed751eb142bdb46734196">更多...</a><br /></td></tr>
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<tr class="memitem:a22e5166dc294c0d5926e95ff5786bb60 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a22e5166dc294c0d5926e95ff5786bb60"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a22e5166dc294c0d5926e95ff5786bb60">getMaximumParticleNum</a> () const</td></tr>
<tr class="memdesc:a22e5166dc294c0d5926e95ff5786bb60 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the maximum number of the particles. <br /></td></tr>
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<tr class="memitem:a224d78046d367d453a20379bd4f24658 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a224d78046d367d453a20379bd4f24658">setEpsilon</a> (double eps)</td></tr>
<tr class="memdesc:a224d78046d367d453a20379bd4f24658 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">set epsilon to be used to calc K-L boundary.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a224d78046d367d453a20379bd4f24658">更多...</a><br /></td></tr>
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<tr class="memitem:a2b45bb0bf0c608cbcf648961e26d923c inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a2b45bb0bf0c608cbcf648961e26d923c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a2b45bb0bf0c608cbcf648961e26d923c">getEpsilon</a> () const</td></tr>
<tr class="memdesc:a2b45bb0bf0c608cbcf648961e26d923c inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">get epsilon to be used to calc K-L boundary. <br /></td></tr>
<tr class="separator:a2b45bb0bf0c608cbcf648961e26d923c inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ea689d31bed91214ff7906a2df5c986 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a0ea689d31bed91214ff7906a2df5c986">setDelta</a> (double delta)</td></tr>
<tr class="memdesc:a0ea689d31bed91214ff7906a2df5c986 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">set delta to be used in chi-squared distribution.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a0ea689d31bed91214ff7906a2df5c986">更多...</a><br /></td></tr>
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<tr class="memitem:a1f7fa6c90ffb01c7ef2377d0c88dcc01 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a1f7fa6c90ffb01c7ef2377d0c88dcc01"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f7fa6c90ffb01c7ef2377d0c88dcc01">getDelta</a> () const</td></tr>
<tr class="memdesc:a1f7fa6c90ffb01c7ef2377d0c88dcc01 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">get delta to be used in chi-squared distribution. <br /></td></tr>
<tr class="separator:a1f7fa6c90ffb01c7ef2377d0c88dcc01 inherit pub_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a8ce7078ef8b5535b60056a482d34f909 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a8ce7078ef8b5535b60056a482d34f909"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8ce7078ef8b5535b60056a482d34f909">ParticleFilterTracker</a> ()</td></tr>
<tr class="memdesc:a8ce7078ef8b5535b60056a482d34f909 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:aa4c0c88e6eca516339a7bb01a2e10855 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">setIterationNum</a> (const int iteration_num)</td></tr>
<tr class="memdesc:aa4c0c88e6eca516339a7bb01a2e10855 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of iteration.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">更多...</a><br /></td></tr>
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<tr class="memitem:a3f1a4f9cc89869b43cd0d89d2dd173a8 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a3f1a4f9cc89869b43cd0d89d2dd173a8"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3f1a4f9cc89869b43cd0d89d2dd173a8">getIterationNum</a> () const</td></tr>
<tr class="memdesc:a3f1a4f9cc89869b43cd0d89d2dd173a8 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of iteration. <br /></td></tr>
<tr class="separator:a3f1a4f9cc89869b43cd0d89d2dd173a8 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5dfccd2f976ecc538f5b5d1f0cb5e03c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">setParticleNum</a> (const int particle_num)</td></tr>
<tr class="memdesc:a5dfccd2f976ecc538f5b5d1f0cb5e03c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">更多...</a><br /></td></tr>
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<tr class="memitem:a092e8a0db817997363b7d85010279a22 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a092e8a0db817997363b7d85010279a22"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a092e8a0db817997363b7d85010279a22">getParticleNum</a> () const</td></tr>
<tr class="memdesc:a092e8a0db817997363b7d85010279a22 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of the particles. <br /></td></tr>
<tr class="separator:a092e8a0db817997363b7d85010279a22 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2de143b5626fb5f59084787ddc9da0c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">setReferenceCloud</a> (const PointCloudInConstPtr &amp;ref)</td></tr>
<tr class="memdesc:aa2de143b5626fb5f59084787ddc9da0c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a pointer to a reference dataset to be tracked.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">更多...</a><br /></td></tr>
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<tr class="memitem:a68872575f5beac2a716ca7d336fe9f51 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a68872575f5beac2a716ca7d336fe9f51"></a>
PointCloudInConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a68872575f5beac2a716ca7d336fe9f51">getReferenceCloud</a> ()</td></tr>
<tr class="memdesc:a68872575f5beac2a716ca7d336fe9f51 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to a reference dataset to be tracked. <br /></td></tr>
<tr class="separator:a68872575f5beac2a716ca7d336fe9f51 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a782c4931b7472dbb7e4f9f5fe92a9833 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">setCloudCoherence</a> (const CloudCoherencePtr &amp;coherence)</td></tr>
<tr class="memdesc:a782c4931b7472dbb7e4f9f5fe92a9833 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a> as likelihood.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">更多...</a><br /></td></tr>
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<tr class="memitem:a58d8f4e3e3c8bf78a0286c00dbb40762 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a58d8f4e3e3c8bf78a0286c00dbb40762"></a>
CloudCoherencePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58d8f4e3e3c8bf78a0286c00dbb40762">getCloudCoherence</a> () const</td></tr>
<tr class="memdesc:a58d8f4e3e3c8bf78a0286c00dbb40762 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a> to compute likelihood. <br /></td></tr>
<tr class="separator:a58d8f4e3e3c8bf78a0286c00dbb40762 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cae829ec11e98fecceca689ab604919 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">setStepNoiseCovariance</a> (const std::vector&lt; double &gt; &amp;step_noise_covariance)</td></tr>
<tr class="memdesc:a4cae829ec11e98fecceca689ab604919 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the covariance of step noise.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">更多...</a><br /></td></tr>
<tr class="separator:a4cae829ec11e98fecceca689ab604919 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4af95324a9cbc1d8124498c7c5ba045 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">setInitialNoiseCovariance</a> (const std::vector&lt; double &gt; &amp;initial_noise_covariance)</td></tr>
<tr class="memdesc:af4af95324a9cbc1d8124498c7c5ba045 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the covariance of the initial noise. It will be used when initializing the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">更多...</a><br /></td></tr>
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<tr class="memitem:ad924b9f7dd0b261ed03c7770cbd9a3cd inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">setInitialNoiseMean</a> (const std::vector&lt; double &gt; &amp;initial_noise_mean)</td></tr>
<tr class="memdesc:ad924b9f7dd0b261ed03c7770cbd9a3cd inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the mean of the initial noise. It will be used when initializing the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">更多...</a><br /></td></tr>
<tr class="separator:ad924b9f7dd0b261ed03c7770cbd9a3cd inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0467f76d2da15f76e31a410cfbfc5e91 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">setResampleLikelihoodThr</a> (const double resample_likelihood_thr)</td></tr>
<tr class="memdesc:a0467f76d2da15f76e31a410cfbfc5e91 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold to re-initialize the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">更多...</a><br /></td></tr>
<tr class="separator:a0467f76d2da15f76e31a410cfbfc5e91 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa36dfffd21323208f53951e5f2404684 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">setOcclusionAngleThe</a> (const double occlusion_angle_thr)</td></tr>
<tr class="memdesc:aa36dfffd21323208f53951e5f2404684 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold of angle to be considered occlusion (default: pi/2). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take the occluded points into account according to the angle between the normal and the position.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">更多...</a><br /></td></tr>
<tr class="separator:aa36dfffd21323208f53951e5f2404684 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58ba4599231097e4373589873d62e01e inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">setMinIndices</a> (const int min_indices)</td></tr>
<tr class="memdesc:a58ba4599231097e4373589873d62e01e inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of indices (default: 1). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take into account the hypothesis whose the number of points is smaller than the minimum indices.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">更多...</a><br /></td></tr>
<tr class="separator:a58ba4599231097e4373589873d62e01e inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe60b5beb228c7f1b5830c8d89e01566 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">setTrans</a> (const Eigen::Affine3f &amp;trans)</td></tr>
<tr class="memdesc:afe60b5beb228c7f1b5830c8d89e01566 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the transformation from the world coordinates to the frame of the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">更多...</a><br /></td></tr>
<tr class="separator:afe60b5beb228c7f1b5830c8d89e01566 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a532b3b446a3b1cd7bb00d2c79364931c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a532b3b446a3b1cd7bb00d2c79364931c"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a532b3b446a3b1cd7bb00d2c79364931c">getTrans</a> () const</td></tr>
<tr class="memdesc:a532b3b446a3b1cd7bb00d2c79364931c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the transformation from the world coordinates to the frame of the particles. <br /></td></tr>
<tr class="separator:a532b3b446a3b1cd7bb00d2c79364931c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e7908d0f758a1a0c9c95c6176323350 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a8e7908d0f758a1a0c9c95c6176323350"></a>
virtual StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8e7908d0f758a1a0c9c95c6176323350">getResult</a> () const</td></tr>
<tr class="memdesc:a8e7908d0f758a1a0c9c95c6176323350 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an instance of the result of tracking. This function returns the particle that represents the transform between the reference point cloud at the beginning and the best guess about its location in the most recent frame. <br /></td></tr>
<tr class="separator:a8e7908d0f758a1a0c9c95c6176323350 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5882a7652169ac27e88d56f0275ecd99 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">toEigenMatrix</a> (const StateT &amp;particle)</td></tr>
<tr class="memdesc:a5882a7652169ac27e88d56f0275ecd99 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert a state to affine transformation from the world coordinates frame.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">更多...</a><br /></td></tr>
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<tr class="memitem:a6331afb4c3aac3b6e8e879da36ffb24c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a6331afb4c3aac3b6e8e879da36ffb24c"></a>
PointCloudStatePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a6331afb4c3aac3b6e8e879da36ffb24c">getParticles</a> () const</td></tr>
<tr class="memdesc:a6331afb4c3aac3b6e8e879da36ffb24c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to a pointcloud of the particles. <br /></td></tr>
<tr class="separator:a6331afb4c3aac3b6e8e879da36ffb24c inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0219863e21ccf578f3d71b6d0189e0b inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">normalizeParticleWeight</a> (double w, double w_min, double w_max)</td></tr>
<tr class="memdesc:ad0219863e21ccf578f3d71b6d0189e0b inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize the weight of a particle using <img class="formulaInl" alt="$ exp(1- alpha ( w - w_{min}) / (w_max - w_min)) $" src="form_80.png"/>  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">更多...</a><br /></td></tr>
<tr class="separator:ad0219863e21ccf578f3d71b6d0189e0b inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac79b9f51a14315772b8cf194c4a2994f inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">setAlpha</a> (double alpha)</td></tr>
<tr class="memdesc:ac79b9f51a14315772b8cf194c4a2994f inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of alpha.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">更多...</a><br /></td></tr>
<tr class="separator:ac79b9f51a14315772b8cf194c4a2994f inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac38ddabe5cb84e54efb168d68a5c79a6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ac38ddabe5cb84e54efb168d68a5c79a6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac38ddabe5cb84e54efb168d68a5c79a6">getAlpha</a> ()</td></tr>
<tr class="memdesc:ac38ddabe5cb84e54efb168d68a5c79a6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of alpha. <br /></td></tr>
<tr class="separator:ac38ddabe5cb84e54efb168d68a5c79a6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8621428eed66d16e2283eecdede16ec9 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">setUseNormal</a> (bool use_normal)</td></tr>
<tr class="memdesc:a8621428eed66d16e2283eecdede16ec9 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of use_normal_.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">更多...</a><br /></td></tr>
<tr class="separator:a8621428eed66d16e2283eecdede16ec9 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada81e277d1399ff54fd6f4679e9380e2 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ada81e277d1399ff54fd6f4679e9380e2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ada81e277d1399ff54fd6f4679e9380e2">getUseNormal</a> ()</td></tr>
<tr class="memdesc:ada81e277d1399ff54fd6f4679e9380e2 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of use_normal_. <br /></td></tr>
<tr class="separator:ada81e277d1399ff54fd6f4679e9380e2 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d45b7b6678ece3d60434735869b2537 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">setUseChangeDetector</a> (bool use_change_detector)</td></tr>
<tr class="memdesc:a2d45b7b6678ece3d60434735869b2537 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of use_change_detector_.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">更多...</a><br /></td></tr>
<tr class="separator:a2d45b7b6678ece3d60434735869b2537 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a099f06a28490b8d421034de6a2fcea14 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a099f06a28490b8d421034de6a2fcea14"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a099f06a28490b8d421034de6a2fcea14">getUseChangeDetector</a> ()</td></tr>
<tr class="memdesc:a099f06a28490b8d421034de6a2fcea14 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of use_change_detector_. <br /></td></tr>
<tr class="separator:a099f06a28490b8d421034de6a2fcea14 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4a20aa937a5c1cbb549eddcf5e83f08 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">setMotionRatio</a> (double motion_ratio)</td></tr>
<tr class="memdesc:af4a20aa937a5c1cbb549eddcf5e83f08 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the motion ratio  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">更多...</a><br /></td></tr>
<tr class="separator:af4a20aa937a5c1cbb549eddcf5e83f08 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a967f6b60b81099746dd449d21992b2b6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a967f6b60b81099746dd449d21992b2b6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a967f6b60b81099746dd449d21992b2b6">getMotionRatio</a> ()</td></tr>
<tr class="memdesc:a967f6b60b81099746dd449d21992b2b6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the motion ratio. <br /></td></tr>
<tr class="separator:a967f6b60b81099746dd449d21992b2b6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2c5f8286b5a3a94e2515bd4484ef855 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">setIntervalOfChangeDetection</a> (unsigned int change_detector_interval)</td></tr>
<tr class="memdesc:aa2c5f8286b5a3a94e2515bd4484ef855 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of interval frames to run change detection.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">更多...</a><br /></td></tr>
<tr class="separator:aa2c5f8286b5a3a94e2515bd4484ef855 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18820a5db547a429ed98508bfc963bd7 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a18820a5db547a429ed98508bfc963bd7"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a18820a5db547a429ed98508bfc963bd7">getIntervalOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:a18820a5db547a429ed98508bfc963bd7 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of interval frames to run change detection. <br /></td></tr>
<tr class="separator:a18820a5db547a429ed98508bfc963bd7 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4247ac126f4abd1ae4592d9c97104588 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">setMinPointsOfChangeDetection</a> (unsigned int change_detector_filter)</td></tr>
<tr class="memdesc:a4247ac126f4abd1ae4592d9c97104588 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum amount of points required within leaf node to become serialized in change detection  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">更多...</a><br /></td></tr>
<tr class="separator:a4247ac126f4abd1ae4592d9c97104588 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77e74db175dd2a36b6156b1905dc0749 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">setResolutionOfChangeDetection</a> (double resolution)</td></tr>
<tr class="memdesc:a77e74db175dd2a36b6156b1905dc0749 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the resolution of change detection.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">更多...</a><br /></td></tr>
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<tr class="memitem:ac1e9ca99cc7b0c9f7d7acada7c1091f6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ac1e9ca99cc7b0c9f7d7acada7c1091f6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac1e9ca99cc7b0c9f7d7acada7c1091f6">getResolutionOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:ac1e9ca99cc7b0c9f7d7acada7c1091f6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the resolution of change detection. <br /></td></tr>
<tr class="separator:ac1e9ca99cc7b0c9f7d7acada7c1091f6 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf18bbfbcd9d29089441bb7cbe6aa1fa inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="adf18bbfbcd9d29089441bb7cbe6aa1fa"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#adf18bbfbcd9d29089441bb7cbe6aa1fa">getMinPointsOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:adf18bbfbcd9d29089441bb7cbe6aa1fa inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum amount of points required within leaf node to become serialized in change detection. <br /></td></tr>
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<tr class="memitem:a1b4cbb515ab39e10f50454d5b356e9d8 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a1b4cbb515ab39e10f50454d5b356e9d8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1b4cbb515ab39e10f50454d5b356e9d8">getFitRatio</a> () const</td></tr>
<tr class="memdesc:a1b4cbb515ab39e10f50454d5b356e9d8 inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the adjustment ratio. <br /></td></tr>
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<tr class="memitem:a8409419393c02fab945ee33f80cf8f6d inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a8409419393c02fab945ee33f80cf8f6d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8409419393c02fab945ee33f80cf8f6d">resetTracking</a> ()</td></tr>
<tr class="memdesc:a8409419393c02fab945ee33f80cf8f6d inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the particles to restart tracking <br /></td></tr>
<tr class="separator:a8409419393c02fab945ee33f80cf8f6d inherit pub_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:ace76ac69bdb310e0f679a3d321456c71 inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ace76ac69bdb310e0f679a3d321456c71"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#ace76ac69bdb310e0f679a3d321456c71">Tracker</a> ()</td></tr>
<tr class="memdesc:ace76ac69bdb310e0f679a3d321456c71 inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a33f13863f8b42e01886999134917779a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a33f13863f8b42e01886999134917779a">compute</a> ()</td></tr>
<tr class="memdesc:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for tracking for all points given in &lt;setInputCloud (), setIndices ()&gt; using the indices in setIndices () <br /></td></tr>
<tr class="separator:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a5d43c8efe0ab537653138e5c1d9793cc"><td class="memItemLeft" align="right" valign="top"><a id="a5d43c8efe0ab537653138e5c1d9793cc"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a5d43c8efe0ab537653138e5c1d9793cc">weight</a> ()</td></tr>
<tr class="memdesc:a5d43c8efe0ab537653138e5c1d9793cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">weighting phase of particle filter method. calculate the likelihood of all of the particles and set the weights. <br /></td></tr>
<tr class="separator:a5d43c8efe0ab537653138e5c1d9793cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a1f4f3213600cff28c35856d891771fd5 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f4f3213600cff28c35856d891771fd5">equalBin</a> (std::vector&lt; int &gt; a, std::vector&lt; int &gt; b)</td></tr>
<tr class="memdesc:a1f4f3213600cff28c35856d891771fd5 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">return true if the two bins are equal.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1f4f3213600cff28c35856d891771fd5">更多...</a><br /></td></tr>
<tr class="separator:a1f4f3213600cff28c35856d891771fd5 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7904521e35b54c3184214cf6b4e0c6eb inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">normalQuantile</a> (double u)</td></tr>
<tr class="memdesc:a7904521e35b54c3184214cf6b4e0c6eb inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">return upper quantile of standard normal distribution.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7904521e35b54c3184214cf6b4e0c6eb">更多...</a><br /></td></tr>
<tr class="separator:a7904521e35b54c3184214cf6b4e0c6eb inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1046cfeefd3cf16647bee72262e3d122 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1046cfeefd3cf16647bee72262e3d122">calcKLBound</a> (int k)</td></tr>
<tr class="memdesc:a1046cfeefd3cf16647bee72262e3d122 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate K-L boundary. K-L boundary follows 1/2e*chi(k-1, 1-d)^2.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1046cfeefd3cf16647bee72262e3d122">更多...</a><br /></td></tr>
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<tr class="memitem:a5d5d35183fa849a477acac3548063c11 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a5d5d35183fa849a477acac3548063c11">insertIntoBins</a> (std::vector&lt; int &gt; bin, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;B)</td></tr>
<tr class="memdesc:a5d5d35183fa849a477acac3548063c11 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">insert a bin into the set of the bins. if that bin is already registered, return false. if not, return true.  <a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a5d5d35183fa849a477acac3548063c11">更多...</a><br /></td></tr>
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<tr class="memitem:a1045bdf2250e462e1037963d7cdfb673 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a1045bdf2250e462e1037963d7cdfb673"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a1045bdf2250e462e1037963d7cdfb673">initCompute</a> ()</td></tr>
<tr class="memdesc:a1045bdf2250e462e1037963d7cdfb673 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
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<tr class="memitem:aeb08f9937ea89ad286c47ec39038a9f3 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="aeb08f9937ea89ad286c47ec39038a9f3"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#aeb08f9937ea89ad286c47ec39038a9f3">resample</a> ()</td></tr>
<tr class="memdesc:aeb08f9937ea89ad286c47ec39038a9f3 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">resampling phase of particle filter method. sampling the particles according to the weights calculated in weight method. in particular, "sample with replacement" is archieved by walker's alias method. <br /></td></tr>
<tr class="separator:aeb08f9937ea89ad286c47ec39038a9f3 inherit pro_methods_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a1db96caa50c71c128263ea9f2ecf9fff inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">calcBoundingBox</a> (double &amp;x_min, double &amp;x_max, double &amp;y_min, double &amp;y_max, double &amp;z_min, double &amp;z_max)</td></tr>
<tr class="memdesc:a1db96caa50c71c128263ea9f2ecf9fff inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the parameters for the bounding box of hypothesis pointclouds.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">更多...</a><br /></td></tr>
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<tr class="memitem:ab2630390687599ddef3854f7ae8fe6f0 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">cropInputPointCloud</a> (const PointCloudInConstPtr &amp;cloud, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;output)</td></tr>
<tr class="memdesc:ab2630390687599ddef3854f7ae8fe6f0 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">更多...</a><br /></td></tr>
<tr class="separator:ab2630390687599ddef3854f7ae8fe6f0 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e0fb653373436035e2984ee76255500 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">computeTransformedPointCloud</a> (const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a2e0fb653373436035e2984ee76255500 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">更多...</a><br /></td></tr>
<tr class="separator:a2e0fb653373436035e2984ee76255500 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e73b9293c4369d0768342ee976e1f3d inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">computeTransformedPointCloudWithNormal</a> (const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a7e73b9293c4369d0768342ee976e1f3d inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into account.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">更多...</a><br /></td></tr>
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<tr class="memitem:a85913614c3446c49ad88393427143877 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">computeTransformedPointCloudWithoutNormal</a> (const StateT &amp;hypothesis, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a85913614c3446c49ad88393427143877 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices without taking occlusion into account.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">更多...</a><br /></td></tr>
<tr class="separator:a85913614c3446c49ad88393427143877 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad397829c9e788bf8ed30dc7039446406 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ad397829c9e788bf8ed30dc7039446406"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad397829c9e788bf8ed30dc7039446406">update</a> ()</td></tr>
<tr class="memdesc:ad397829c9e788bf8ed30dc7039446406 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the weighted mean of the particles and set it as the result. <br /></td></tr>
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<tr class="memitem:af785806003a8c30f7d98846697149420 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="af785806003a8c30f7d98846697149420"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af785806003a8c30f7d98846697149420">normalizeWeight</a> ()</td></tr>
<tr class="memdesc:af785806003a8c30f7d98846697149420 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize the weights of all the particels. <br /></td></tr>
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<tr class="memitem:a1f7cd991aa9d0996281cdbf2deadc500 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a1f7cd991aa9d0996281cdbf2deadc500"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1f7cd991aa9d0996281cdbf2deadc500">initParticles</a> (bool reset)</td></tr>
<tr class="memdesc:a1f7cd991aa9d0996281cdbf2deadc500 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the particles. initial_noise_covariance_ and initial_noise_mean_ are used for Gaussian sampling. <br /></td></tr>
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<tr class="memitem:a3413d607ca8cdcc30f23d06cd4af0088 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a3413d607ca8cdcc30f23d06cd4af0088"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3413d607ca8cdcc30f23d06cd4af0088">computeTracking</a> ()</td></tr>
<tr class="memdesc:a3413d607ca8cdcc30f23d06cd4af0088 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Track the pointcloud using particle filter method. <br /></td></tr>
<tr class="separator:a3413d607ca8cdcc30f23d06cd4af0088 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b54d7532eb15ef2ea0d30e1eb106c65 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">sampleWithReplacement</a> (const std::vector&lt; int &gt; &amp;a, const std::vector&lt; double &gt; &amp;q)</td></tr>
<tr class="memdesc:a2b54d7532eb15ef2ea0d30e1eb106c65 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of "sample with replacement" using Walker's alias method. about Walker's alias method, you can check the paper below: article{355749}, author = {Walker, Alastair J.}, title = {An Efficient Method for Generating Discrete Random Variables with General Distributions}, journal = {ACM Trans. Math. Softw.}, volume = {3}, number = {3}, year = {1977}, issn = {0098-3500}, pages = {253&ndash;256}, doi = {<a href="http://doi.acm.org/10.1145/355744.355749">http://doi.acm.org/10.1145/355744.355749</a>}, publisher = {ACM}, address = {New York, NY, USA}, }  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">更多...</a><br /></td></tr>
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<tr class="memitem:a10ada9076b703e6dde51319aea6bac59 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a10ada9076b703e6dde51319aea6bac59"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a10ada9076b703e6dde51319aea6bac59">genAliasTable</a> (std::vector&lt; int &gt; &amp;a, std::vector&lt; double &gt; &amp;q, const PointCloudStateConstPtr &amp;particles)</td></tr>
<tr class="memdesc:a10ada9076b703e6dde51319aea6bac59 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate the tables for walker's alias method. <br /></td></tr>
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<tr class="memitem:a57bef62582b9834b0357f8febb424ba3 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a57bef62582b9834b0357f8febb424ba3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a57bef62582b9834b0357f8febb424ba3">resampleWithReplacement</a> ()</td></tr>
<tr class="memdesc:a57bef62582b9834b0357f8febb424ba3 inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resampling the particle with replacement. <br /></td></tr>
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<tr class="memitem:ab507151b720700eb630346dc7f565a9c inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ab507151b720700eb630346dc7f565a9c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab507151b720700eb630346dc7f565a9c">resampleDeterministic</a> ()</td></tr>
<tr class="memdesc:ab507151b720700eb630346dc7f565a9c inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resampling the particle in deterministic way. <br /></td></tr>
<tr class="separator:ab507151b720700eb630346dc7f565a9c inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a401abe3b0fd3b25b508820e3d17cd47d inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">testChangeDetection</a> (const PointCloudInConstPtr &amp;input)</td></tr>
<tr class="memdesc:a401abe3b0fd3b25b508820e3d17cd47d inherit pro_methods_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run change detection and return true if there is a change.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">更多...</a><br /></td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a4c1fa53775fb65484611b33ce4773a2c"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a4c1fa53775fb65484611b33ce4773a2c">getClassName</a> () const</td></tr>
<tr class="memdesc:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a3dc29b3ec41eab5118f32f6e0d0a530d">setSearchMethod</a> (const SearchPtr &amp;search)</td></tr>
<tr class="memdesc:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud. <br  />
  <a href="classpcl_1_1tracking_1_1_tracker.html#a3dc29b3ec41eab5118f32f6e0d0a530d">更多...</a><br /></td></tr>
<tr class="separator:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a7b69894c55f2eb469ecefa0f94d9b10a"></a>
SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a7b69894c55f2eb469ecefa0f94d9b10a">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the point cloud dataset. <br /></td></tr>
<tr class="separator:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a298013328d51135b99c5befd8785d181"><td class="memItemLeft" align="right" valign="top"><a id="a298013328d51135b99c5befd8785d181"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a298013328d51135b99c5befd8785d181">threads_</a></td></tr>
<tr class="memdesc:a298013328d51135b99c5befd8785d181"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of threads the scheduler should use. <br /></td></tr>
<tr class="separator:a298013328d51135b99c5befd8785d181"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a488b98106ab57557855c222bda0b2734 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a488b98106ab57557855c222bda0b2734"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a488b98106ab57557855c222bda0b2734">maximum_particle_number_</a></td></tr>
<tr class="memdesc:a488b98106ab57557855c222bda0b2734 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">the maximum number of the particles. <br /></td></tr>
<tr class="separator:a488b98106ab57557855c222bda0b2734 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afff02a9c87c691a6494896626ded672b inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="afff02a9c87c691a6494896626ded672b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#afff02a9c87c691a6494896626ded672b">epsilon_</a></td></tr>
<tr class="memdesc:afff02a9c87c691a6494896626ded672b inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">error between K-L distance and MLE <br /></td></tr>
<tr class="separator:afff02a9c87c691a6494896626ded672b inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7db021281e95c220aef1dac0c1a9ff46 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a7db021281e95c220aef1dac0c1a9ff46"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#a7db021281e95c220aef1dac0c1a9ff46">delta_</a></td></tr>
<tr class="memdesc:a7db021281e95c220aef1dac0c1a9ff46 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">probability of distance between K-L distance and MLE is less than epsilon_ <br /></td></tr>
<tr class="separator:a7db021281e95c220aef1dac0c1a9ff46 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf6bf90870b0404ad0db0f791764e624 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="abf6bf90870b0404ad0db0f791764e624"></a>
StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html#abf6bf90870b0404ad0db0f791764e624">bin_size_</a></td></tr>
<tr class="memdesc:abf6bf90870b0404ad0db0f791764e624 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">the size of a bin. <br /></td></tr>
<tr class="separator:abf6bf90870b0404ad0db0f791764e624 inherit pro_attribs_classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a1aba95f8a1e5781e13c445adc1fdc603 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a1aba95f8a1e5781e13c445adc1fdc603"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a></td></tr>
<tr class="memdesc:a1aba95f8a1e5781e13c445adc1fdc603 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of iteration of particlefilter. <br /></td></tr>
<tr class="separator:a1aba95f8a1e5781e13c445adc1fdc603 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad44d8b9caef589f337a57b2c2ef9929e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ad44d8b9caef589f337a57b2c2ef9929e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a></td></tr>
<tr class="memdesc:ad44d8b9caef589f337a57b2c2ef9929e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of the particles. <br /></td></tr>
<tr class="separator:ad44d8b9caef589f337a57b2c2ef9929e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa964174e2cde6a040d259c1a41b49b1e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="aa964174e2cde6a040d259c1a41b49b1e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a></td></tr>
<tr class="memdesc:aa964174e2cde6a040d259c1a41b49b1e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum number of points which the hypothesis should have. <br /></td></tr>
<tr class="separator:aa964174e2cde6a040d259c1a41b49b1e inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac069bd9c4a92dc260f350131d9d1b16c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ac069bd9c4a92dc260f350131d9d1b16c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">fit_ratio_</a></td></tr>
<tr class="memdesc:ac069bd9c4a92dc260f350131d9d1b16c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adjustment of the particle filter. <br /></td></tr>
<tr class="separator:ac069bd9c4a92dc260f350131d9d1b16c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a409c2293448b36cf135dc8177cab8f29 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a409c2293448b36cf135dc8177cab8f29"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a></td></tr>
<tr class="memdesc:a409c2293448b36cf135dc8177cab8f29 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to reference point cloud. <br /></td></tr>
<tr class="separator:a409c2293448b36cf135dc8177cab8f29 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8770718116c4a55f51d1da3c37c9b90 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ab8770718116c4a55f51d1da3c37c9b90"></a>
PointCloudStatePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a></td></tr>
<tr class="memdesc:ab8770718116c4a55f51d1da3c37c9b90 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the particles <br  />
 <br /></td></tr>
<tr class="separator:ab8770718116c4a55f51d1da3c37c9b90 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24e39d2742fd388e032ea0589c9671a6 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a24e39d2742fd388e032ea0589c9671a6"></a>
CloudCoherencePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a></td></tr>
<tr class="memdesc:a24e39d2742fd388e032ea0589c9671a6 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a>. <br /></td></tr>
<tr class="separator:a24e39d2742fd388e032ea0589c9671a6 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a757a9ebe6a716af29dcd8efad052730d inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a757a9ebe6a716af29dcd8efad052730d"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a></td></tr>
<tr class="memdesc:a757a9ebe6a716af29dcd8efad052730d inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The diagonal elements of covariance matrix of the step noise. the covariance matrix is used at every resample method. <br /></td></tr>
<tr class="separator:a757a9ebe6a716af29dcd8efad052730d inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55ad536efe1907a540940731c553143a inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a55ad536efe1907a540940731c553143a"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a></td></tr>
<tr class="memdesc:a55ad536efe1907a540940731c553143a inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The diagonal elements of covariance matrix of the initial noise. the covariance matrix is used when initialize the particles. <br /></td></tr>
<tr class="separator:a55ad536efe1907a540940731c553143a inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a894616f39a231ae134d5c8e2130c5c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a9a894616f39a231ae134d5c8e2130c5c"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a></td></tr>
<tr class="memdesc:a9a894616f39a231ae134d5c8e2130c5c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The mean values of initial noise. <br /></td></tr>
<tr class="separator:a9a894616f39a231ae134d5c8e2130c5c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad40b58e84468bb1c506b438159cfc851 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ad40b58e84468bb1c506b438159cfc851"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a></td></tr>
<tr class="memdesc:ad40b58e84468bb1c506b438159cfc851 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold for the particles to be re-initialized. <br /></td></tr>
<tr class="separator:ad40b58e84468bb1c506b438159cfc851 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7ebd48f7499e9528b514d4a302b6d27 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="af7ebd48f7499e9528b514d4a302b6d27"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a></td></tr>
<tr class="memdesc:af7ebd48f7499e9528b514d4a302b6d27 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold for the points to be considered as occluded. <br /></td></tr>
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<tr class="memitem:aa4c05a9706ae93773af16c3c2321e287 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="memItemLeft" align="right" valign="top"><a id="aa4c05a9706ae93773af16c3c2321e287"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a></td></tr>
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StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">representative_state_</a></td></tr>
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Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a></td></tr>
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StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">motion_</a></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a></td></tr>
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<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a></td></tr>
<tr class="memdesc:ad878fa3e4647d44e087740b4daf71f6c inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass through filter to crop the pointclouds within the hypothesis bounding box. <br /></td></tr>
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<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a></td></tr>
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<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a></td></tr>
<tr class="memdesc:a76c3534fd0d41e345f878add5d131bae inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass through filter to crop the pointclouds within the hypothesis bounding box. <br /></td></tr>
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std::vector&lt; PointCloudInPtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a></td></tr>
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boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html">pcl::octree::OctreePointCloudChangeDetector</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a></td></tr>
<tr class="memdesc:abaffda09f3641a87d297ba392ebb25df inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change detector used as a trigger to track. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">changed_</a></td></tr>
<tr class="memdesc:a5982b1c4fdd420e90ff7458a5115bf4f inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag to be true when change of pointclouds is detected. <br /></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">change_counter_</a></td></tr>
<tr class="memdesc:a91f86c1703de285ca01c44beacf4aa1f inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A counter to skip change detection. <br /></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a></td></tr>
<tr class="memdesc:ae989bacbb8a5e8329a4786f691119b82 inherit pro_attribs_classpcl_1_1tracking_1_1_particle_filter_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The flag which will be true if using change detection. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a></td></tr>
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SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a3c1c4fc6bf4d4e3612019ed0a6c6968c">search_</a></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
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IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename StateT&gt;<br />
class pcl::tracking::KLDAdaptiveParticleFilterOMPTracker&lt; PointInT, StateT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html" title="KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within ...">KLDAdaptiveParticleFilterOMPTracker</a></b> tracks the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> which is given by setReferenceCloud within the measured <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> using particle filter method. The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03]. and the computation of the weights of the particles is parallelized using OpenMP. </p>
<dl class="section author"><dt>作者</dt><dd>Ryohei Ueda </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a69f67d0e24c1fd01874bba00cb231e4f">&#9670;&nbsp;</a></span>KLDAdaptiveParticleFilterOMPTracker()</h2>

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template&lt;typename PointInT , typename StateT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterOMPTracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html">KLDAdaptiveParticleFilterOMPTracker</a> </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>nr_threads</em> = <code>0</code></td><td>)</td>
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<p>Initialize the scheduler and set the number of threads to use. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">nr_threads</td><td>the number of hardware threads to use (0 sets the value back to automatic) </td></tr>
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<div class="fragment"><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      : KLDAdaptiveParticleFilterTracker&lt;PointInT, StateT&gt; ()</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a298013328d51135b99c5befd8785d181">threads_</a> (nr_threads)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a> = <span class="stringliteral">&quot;KLDAdaptiveParticleFilterOMPTracker&quot;</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker_html_a298013328d51135b99c5befd8785d181"><div class="ttname"><a href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a298013328d51135b99c5befd8785d181">pcl::tracking::KLDAdaptiveParticleFilterOMPTracker::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> kld_adaptive_particle_filter_omp.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_aaa1a7a91f381d951cc85c0c7f440f0ce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">pcl::tracking::Tracker::tracker_name_</a></div><div class="ttdeci">std::string tracker_name_</div><div class="ttdoc">The tracker name.</div><div class="ttdef"><b>Definition:</b> tracker.h:92</div></div>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b8e7b1aefdbaf5f1f3b417a510d98d5">&#9670;&nbsp;</a></span>setNumberOfThreads()</h2>

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template&lt;typename PointInT , typename StateT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html">pcl::tracking::KLDAdaptiveParticleFilterOMPTracker</a>&lt; PointInT, StateT &gt;::setNumberOfThreads </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>nr_threads</em> = <code>0</code></td><td>)</td>
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<p>Initialize the scheduler and set the number of threads to use. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">nr_threads</td><td>the number of hardware threads to use (0 sets the value back to automatic) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html#a298013328d51135b99c5befd8785d181">threads_</a> = nr_threads; }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>tracking/include/pcl/tracking/<a class="el" href="kld__adaptive__particle__filter__omp_8h_source.html">kld_adaptive_particle_filter_omp.h</a></li>
<li>tracking/include/pcl/tracking/impl/<a class="el" href="kld__adaptive__particle__filter__omp_8hpp_source.html">kld_adaptive_particle_filter_omp.hpp</a></li>
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